Although widely employed in mission-critical applications, Underwater Acoustic Networks (UANs) are intrinsically susceptible to Denial of Service (DoS) attacks, due to the broadcast nature of the underwater acoustic channel. These security breaches can severely compromise the UAN’s operational integrity and disrupt the overall network performance, requiring adequate safeguards to be put in place. Reputation-based trust systems represent one of the most effective countermeasures against these threats, protecting from a wide range of attacks by predicting the reliability of nodes’ future behavior based on historical evidence such as their level of participation in network communication. However, this type of communication-based trust evidence, collected by nodes about their 1-hop neighbors, often leads to wrong trust assessments caused by poor link quality that could be avoided by taking channel conditions into account and/or incorporating third-party reputation information when evaluating trustworthiness. In [1], a channel-based reputation system weighing observations based on channel state is presented. Work presented in [2] expands such system by employing Trust- Related Data (TRD) dissemination to make any node in a multihop UAN aware of the trustworthiness of each other. This paper is a substantial extension of [2], introducing first-hand and second-hand TRD integration and rendering the system suitable for deployment by minimizing the amount of transmitted data. Additionally, we present a more comprehensive simulationbased evaluation of the proposed security framework, including a performance analysis in a scenario involving a mobile node, tests against attacks targeting the reputation system itself (such as slandering and spoofing) and a real-world validation conducted through a dedicated sea trial.

In the last ten years several simulation studies on Autonomous Underwater Vehicle (AUV) swarm fleet formation have been performed, and some preliminary sea demonstrations of proof-of-concept prototypes were carried out. However, their actual realization is hindered by the challenges imposed by the underwater acoustic channel and the difficulties of keeping track of the vehicles’ positions due to the long latency required by traditional Two-Way Travel-Time (TWTT) ranging measurements, that require a specific signalling, hence limiting the throughput of the underwater network. Although One-Way Travel-Time (OWTT) halves the latency, it requires a high precision oscillator, such as an atomic clock or an oven controlled crystal oscillator (OCXO), to be installed in each modem processing unit: while atomic clocks are still very expensive, OCXO are very power demanding, making their application to underwater acoustic networks not always possible, especially in the case of low cost vehicle swarms. In this paper we present a network protocol stack able to perform ranging and localization within the communication task in underwater acoustic networks, limiting the network overhead. Specifically, new layers have been added to the preexisting DESERT Underwater protocol stack to perform the ranging tasks without compromising the correct operation of the communication network. A ranging layer is placed on top of the Medium Access Control (MAC) scheme, allowing the latter to be changed according to the network topology and requirements. This MAC-agnostic ranging layer is further optimized by adapting the amount of data transmitted according to the channel state, and the ranging entries inserted in the data packets according to the least recent information transmitted, hence minimizing the Age of Information. Simulation results obtained with the DESERT Underwater Framework show how this layer allows all AUVs in the swarm to know their distance from every other node in the network, thus limiting the probability of vehicle collisions and allowing better mission coordination.

Sensing and communication technology has been used successfully in various event monitoring applications over the last two decades, especially in places where long-term manual monitoring is infeasible. However, the major applicability of this technology was mostly limited to terrestrial environments. On the other hand, underwater wireless sensor networks (UWSNs) opens a new space for the remote monitoring of underwater species and faunas, along with communicating with underwater vehicles, submarines, and so on. However, as opposed to terrestrial radio communication, underwater environment brings new challenges for reliable communication due to the high conductivity of the aqueous medium which leads to major signal absorption. In this paper, we provide a detailed technical overview of different underwater communication technologies, namely acoustic, magnetic, and visual light, along with their potentials and challenges in submarine environments. Detailed comparison among these technologies have also been laid out along with their pros and cons using real experimental results.

Underwater acoustic networks are often used in mission-critical scenarios, such as military underwater networks and assets deployed for tsunami prevention; hence, an attack performed against these types of networks can easily lead to disastrous consequences. Nevertheless, countermeasures to possible network attacks have not been widely investigated so far. A reputation system, where a node gains trust each time it exhibits a good behavior, and loses trust each time it behaves suspiciously, is an effective way to identify possible attackers in the network. The main challenge when applying a reputation system in an underwater network is to understand whether the network performance degrades because a node is acting maliciously intentionally, or because of the changed channel conditions, causing a large packet drop. For instance, when a ship travels close to an underwater network deployment, it causes an increased packet loss, and so does the change of environmental conditions, such as a drop of temperature, the presence of rain or the increase of the wind speed. This behavior of the acoustic channel can be characterized with a hidden Markov model, whose parameters are obtained observing the time evolution of the acoustic channel in a sea experiment. This article presents a trust model based on the knowledge of the channel state, inferred from the perceived noise and received signal strength, in which misbehavior and correct behavior are considered differently according to the actual channel state. We evaluate the model both analytically and through simulations, implementing the trust mechanism in the DESERT Underwater Network framework.

Security is a critical consideration in Underwater Acoustic Networks (UANs) due to the importance of the applications in which these types of networks are often employed, from military applications to marine natural disaster prevention. Furthermore, even simple Denial of Service (DoS) attacks such as jamming can be very effective in disrupting the communication, with significant negative consequences for these critical applications. While jamming has been widely studied in the context of terrestrial networks, the peculiarities of propagation in UANs, such as the low propagation speed, the multipath, and the high delay spread, need to be considered: the relative positions of the jammer, transmitter, and receiver can have a huge impact on the feasibility and impact of reactive jamming, opening the way for the exploitation of other jamming models. In this paper, we analyze the effectiveness of a reactive and a blind jammer through a game theoretical framework, comparing them for different geometries of the scenario. We assess the impact of the different jammers, employing different active and evasive strategies, where the first type of countermeasure implies the use of additional energy to protect the communication, while the second tries to avoid the jamming signals by randomizing the transmission pattern.

Security aspects in underwater wireless networks have not been widely investigated so far, despite the critical importance of the scenarios in which these networks can be employed. For example, an attack to a military underwater network for enemy targeting or identification can lead to serious consequences. Similarly, environmental monitoring applications, such as tsunami prevention, are also critical from a public safety point of view. In this article, we assess a scenario in which a malicious node tries to perform a jamming attack, degrading the communication quality of battery-powered underwater nodes. The legitimate transmitter may use packet-level coding to increase the chances of correctly delivering packets. Because of the energy limitation of the nodes, the jammer's objective is twofold: 1) disrupting the communication and 2) reducing the lifetime of the victim by making it send more redundancy. We model the jammer and the transmitter as players in a multistage game, deriving the optimal strategies. We evaluate the performance both in a model-based scenario and using real experimental data, and perform a sensitivity analysis to evaluate the performance of the strategies if the real channel model is different from the one they use.

While acoustic communications are still considered the most prominent technology to communicate under water, other technologies are being developed based, e.g., on optical and radio-frequency electromagnetic waves. Each technology has its own advantages and drawbacks: for example, acoustic signals achieve long communication ranges at order-of-kbit/s rates, whereas optical signals offer order-of-Mbit/s transmission rates, but only over short ranges. Such diversity can be leveraged by multimodal systems, which integrate different technologies and provide the intelligence required to decide which one should be used at any given time. In this paper, we address a fundamental part of this intelligence by proposing optimal multimodal routing (OMR), a novel routing protocol for underwater networks of multimodal nodes. OMR makes distributed decisions about the flow in each link and over each technology, at any given time, in order to advance a packet toward its destination; in doing so, it prevents bottlenecks and allocates resources fairly to different nodes. We analyze the performance of OMR via simulations and in a field experiment. The results show that OMR successfully leverages all technologies to deliver data, even in the presence of imperfect topology information. To permit the reproduction of our results, we share our simulation code.

We present a spatial reuse resource allocation scheme for underwater acoustic networks that organizes communications so as to avoid destructive collisions. One prime source of collisions in underwater acoustic networks is the so called near-far effect, where a node located farther from the receiver is jammed by a closer node. While common practice considers such a situation a challenge, in this paper we consider it a resource, and use it to increase the network throughput of spatial-reuse time-division multiple access. Our algorithm serves two types of communications: (1) contention-free and (2) opportunistic. Our objective is to maximize the time slot allocation, while guaranteeing a minimum per-node packet transmission rate. The result is an increase in the number of contention-free packets received, and a decrease in the scheduling delay of opportunistic packets. Numerical results show that, at a slight cost in terms of fairness, our scheduling solutions achieve higher throughput and lower transmission delay than benchmark spatial-reuse scheduling protocols. These results are verified in a field experiment conducted in the Garda Lake, Italy, where we demonstrated our solution using off-the-shelf acoustic modems. To allow the reproducibility of our results, we publish the implementation of our proposed algorithm.

Wireless transmissions in water are mostly carried out via long-range (but low-rate) underwater acoustic communications, or short-range (but high-rate) underwater optical communications. In this paper, we are interested in finding out whether a statistical relationship exists between underwater acoustics and optics. Besides the theoretical interest of such a relationship, predicting the quality of the optical link through acoustics is also relevant in the context of a multimodal system with both acoustics and optics. Our study is based on a large data set acquired during the NATO ALOMEX 2015 expedition. During this experiment, we simultaneously measured several characteristics of the acoustic and optical links at multiple locations, reflecting a diversity of sea environments. Our results show a strong correlation between the properties of the acoustic link and the reliability of optical communications. This correlation makes it possible to predict the state of the underwater optical link at a certain depth and range. Due to the complexity of the acoustic and optical channels, we could not find the source of this correlation. This paper is, therefore, aimed to stimulate a theoretical study of the mutual properties of underwater acoustic and optical communication links. For reproducibility, we share the processed data from the experiment.